CN104443086B - Hydraulically extensible deformed caterpillar wheel - Google Patents
Hydraulically extensible deformed caterpillar wheel Download PDFInfo
- Publication number
- CN104443086B CN104443086B CN201410749561.1A CN201410749561A CN104443086B CN 104443086 B CN104443086 B CN 104443086B CN 201410749561 A CN201410749561 A CN 201410749561A CN 104443086 B CN104443086 B CN 104443086B
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- Prior art keywords
- wheel
- support
- hydraulic
- gear
- hydraulic pressure
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- 239000000203 mixture Substances 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 235000019994 cava Nutrition 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
The open a kind of hydraulically extensible deformed caterpillar wheel of the present invention, crawler belt, hydraulic support frame and three support wheel；Second support wheel is supported with the 3rd and is connected by expansion link between wheel, second support wheel is supported with the 3rd and is connected by hydraulically extensible bar between wheel, it is respectively mounted a block rubber between hydraulically extensible bar and the second support wheel with the 3rd support wheel the invention has the beneficial effects as follows: hydraulic support frame includes support hydraulic pressure cylinder body and three hydraulic stems composition one circles of formation, this circular crawler track wheel construction advantage is that travel speed is fast, it is suitable for the road traveling being dried, when by shrinking hydraulic support frame, second support wheel and the 3rd supports wheel due to the distance between hydraulically extensible bar stretching, extension support wheel simultaneously, make road wheel triangularity shape, the area that contacts to earth of the structure of this crawler belt is big, it is suitable for travelling in the most muddy place.
Description
Technical field
The present invention relates to a kind of hydraulically extensible deformed caterpillar wheel.
Background technology
Athey wheel is to want to preferably adapt to various vehicle performance harsh to cross-country traveling ability and high maneuverability etc. in modern age
Asking, merged the advantage of tire and creeper undercarriage and the novel travelling mechanism researched and developed, current Athey wheel is usually triangle
Athey wheel or the Athey wheel of long strip type, these current several Athey wheels the most do not possess deformation or the feature of mutually conversion.
Summary of the invention
The problem existed for above-mentioned prior art, the present invention provides a kind of hydraulically extensible deformed caterpillar wheel, it is possible to fast
The deformation passed, is suitable for different terrain and occasion uses.
To achieve these goals, the technical solution used in the present invention is: a kind of deformable caterpillar wheel includes: crawler belt
And the hydraulic support frame and three for supporting crawler belt supports wheel；
Described hydraulic support frame includes support hydraulic pressure cylinder body and three the hydraulic stem groups being arranged on support hydraulic pressure cylinder body
Becoming, the end of hydraulic stem is all equipped with the circular arc gear piece that the internal tooth with crawler belt engages, circular arc gear piece and three support wheels and crawler belt
Engagement, and form a circle, three support wheels are by rod hinge connection, and wherein the second support wheel and the 3rd passes through between supporting and taking turns
Expansion link connects, and the second support wheel is supported with the 3rd and is connected by hydraulically extensible bar between wheel, hydraulically extensible bar and second
Support wheel and the 3rd supports and is respectively mounted a block rubber between wheel.
Further, the medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth；
First gear and the second gear are connected by chain drive；
Second gear is connected by hydraulic pressure oil transportation hollow axle with the support hydraulic pressure cylinder body of hydraulic support frame, and transaxle is placed on liquid
On pressure oil transportation hollow axle so that transaxle can hydraulically extensible motion；The center of the second gear also has one and caves in cone tooth；
One end of transaxle has can be intermeshing two-sided with the cone tooth that caves in of the second gear and support hydraulic pressure cylinder body
Cone tooth, first supports wheel is connected by power transmission shaft and the first gear.
Further improving, the outside of the outer driving means being made up of the first gear, the second gear and chain is also equipped with
Gag lever post.
Further improve, be connected for revolute pair between the support hydraulic pressure cylinder body of hydraulic support frame with hydraulic pressure oil transportation hollow axle
Mode, there is rubber seal inside.
The invention has the beneficial effects as follows: described hydraulic support frame includes support hydraulic pressure cylinder body and is arranged on supporting cylinder
Three hydraulic stems composition on body, the end of hydraulic stem is all equipped with the circular arc gear piece that the internal tooth with crawler belt engage, circular arc gear piece and
Three corner gears engage with crawler belt, and form a circle, and this circular crawler track wheel construction advantage is that travel speed is fast, is suitable for dry
Dry road traveling, when by shrinking hydraulic support frame, the hydraulic pressure that the second support wheel is connected between supporting with the 3rd and taking turns is stretched simultaneously
Contracting bar is extended by hydraulic pressure, strengthens the second support wheel and the 3rd and supports the distance between wheel so that road wheel becomes an obtuse angle three
Angular shape, the area that contacts to earth of the structure of this crawler belt is big, is suitable for travelling in the most muddy place, hydraulically extensible bar and second
Support wheel and the 3rd supports and is respectively mounted a block rubber, for vibration damping between wheel.
Accompanying drawing explanation
Fig. 1 is foreign steamer structure chart of the present invention.
Fig. 2 is main structure chart of the present invention.
Fig. 3 is master map broken away view of the present invention.
Fig. 4 is the structure chart of transaxle.
Fig. 5 is the structure chart that wheel is triangular in shape.
Fig. 6 be wheel rounded time support wheel state diagram.
Fig. 7 is that the present invention does not has tracked structure chart.
In figure: 1, crawler belt, 2, circular arc gear piece, 3, hydraulic support frame, 4, transaxle, 6, hydraulically extensible bar, 7, first supports
Wheel, 8, second supports wheel, and the 9, the 3rd supports wheel, the 10, second gear, the 11, first gear, 12, power transmission shaft, 13,14, chain,
15, gag lever post, 16, cave in cone tooth.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the present invention includes: crawler belt 1 and for supporting the hydraulic support frame 3 of crawler belt and first
Supportting wheel 7, second and support wheel the 8, the 3rd support wheel 9, first described support wheel the 7, second support wheel the 8, the 3rd support wheel 9 is can
The corner gear rotated.
Hydraulic support frame 3 includes support hydraulic pressure cylinder body and three the hydraulic stem compositions being arranged on support hydraulic pressure cylinder body, liquid
The end of depression bar is all equipped with the circular arc gear piece 2 that the internal tooth with crawler belt 1 engages, and circular arc gear piece 2 and first supports 7, second, wheel
Support wheel the 8, the 3rd supports wheel and 9 all engage with crawler belt, and forms a circle, first support take turns 7 and second support take turns 8 and first
Support wheel 7 supports in the middle of wheel 9 by rod hinge connections with the 3rd, and as shown in Figure 6, second supports wheel 8 and the 3rd supports and lead between wheel 9
Crossing expansion link to connect, second supports wheel 8 supports with the 3rd and is connected by hydraulically extensible bar between wheel 9, hydraulically extensible bar 6 and
It is respectively mounted a block rubber for vibration damping between second support wheel 8 and the 3rd support wheel 9.
The medial center of described support hydraulic pressure cylinder body be provided with one cave in cone tooth 16；
First gear 11 is in transmission connection by chain 14 with the second gear 10；
Second gear 10 is connected by hydraulic pressure oil transportation hollow axle 13 with the support hydraulic pressure cylinder body of hydraulic support frame 3, and hydraulic pressure props up
Being revolute pair connected mode between support hydraulic pressure cylinder body and the hydraulic pressure oil transportation hollow axle 13 of support 3, there is rubber seal inside, anti-
The only leakage of hydraulic oil.
Transaxle 4 is placed on hydraulic pressure oil transportation hollow axle 13 so that transaxle 4 can hydraulically extensible motion；Second gear 10
Center also have one and cave in cone tooth；As shown in Figure 4, have can be with the second gear 10 and support hydraulic pressure in one end of transaxle 4
The cone intermeshing two-sided cone tooth of tooth 16 that caves in of cylinder body, first supports wheel 7 is connected with the first gear 11 by power transmission shaft 12；
The outside of the outer driving means being made up of first gear the 11, second gear 10 and chain 14 is also equipped with gag lever post
15 so that outer driving means position obtains fixing to produce skew.
Owing to first supports wheel the 7, second support wheel the 8, the 3rd support wheel 9, the circular arc gear piece 2 of three hydraulic stems props up jointly
Supportting crawler belt 1, crawler belt 1 is in tensioned state, due to the effect of power, the most fixing between the second support wheel 8 and the 3rd support wheel 9
Spring 6 be in compressive state, now, crawler belt 1 is generally in a circular state.Transaxle 4 is to be connected with electromotor
, it is the sole power source of whole wheel movement, it is achieved the conversion regime of motion is, controls to make motion change by control system
Axle 4 is axially realizing movement, when motion transaxle 4 leans against on hydraulic support frame 3, the bevel gear of motion transaxle 4 and support
The cone tooth 16 that caves in of hydraulic cylinder engages, and drives hydraulic support frame 3 to rotate, thus the structure of whole wheel one circle quickly turns
Dynamic.
By shrinking three hydraulic stems on support hydraulic pressure cylinder body, the circular arc gear piece 2 of the end of hydraulic stem no longer with crawler belt
Contact engagement, crawler belt is in lax shape, and second supports wheel 8 and the 3rd supports spring 6 Rapid reset fixing between wheel 9, makes
The second support wheel 8 and the 3rd supports the distances between wheel 9 and becomes big, first supports wheel 7, second supports wheel the 8, the 3rd and supports wheel
9 present an isosceles obtuse triangle, as it is shown in figure 5, the wheel of whole crawler belt parcel is in an isosceles obtuse triangle, car
Take turns the area that lands big.By Hynautio-steering promote transaxle 4 move to the direction of the second gear 10, transaxle 4 no longer with
Hydraulic support frame 3 connects, and hydraulic support frame 3 is in passive delivery state, and the bore of the center port of the second gear 10 is slightly larger than turning
Change the diameter of axle 4 so that the axis body of transaxle 4 can be through the center port of the second gear 10, so, the cone of transaxle 4 end
Tooth can with the second gear 10 cave in cone tooth engage, drive the second gear 10 by transaxle 4, by chain 14 with make transmission
First gear 11 rotates, and the first gear 11 has the rotation being driven the first support wheel 7 by power transmission shaft 12, thus realizes crawler belt 1
Rotation.
Claims (2)
1. a hydraulically extensible deformed caterpillar wheel, it is characterised in that including: crawler belt (1) and for supporting the hydraulic pressure of crawler belt
Bracing frame (3) and three supports wheel (7,8,9)；Described hydraulic support frame (3) is by support hydraulic pressure cylinder body and is arranged on support liquid
Three hydraulic stem compositions on cylinder pressure body, the end of hydraulic stem is all equipped with the circular arc gear piece (2) that the internal tooth with crawler belt engages, circular arc
Gear piece (2) and three supports wheel (7,8,9) are engaged with crawler belt, and form a circle, and three support wheel (7,8,9) and pass through connecting rod
Hinged, wherein the second support wheel (8) is supported with the 3rd and is connected by hydraulically extensible bar (6) between wheel (9), hydraulically extensible bar
(6) support wheel (8) to support to take turns between (9) with the 3rd be respectively mounted a block rubber with second, described support hydraulic pressure cylinder body interior
Center, side be provided with one cave in cone tooth (16)；First gear (11) is in transmission connection by chain (14) with the second gear (10)；The
Two gears (10) are connected by hydraulic pressure oil transportation hollow axle (13) with the support hydraulic pressure cylinder body of hydraulic support frame (3), and transaxle (4) overlaps
On hydraulic pressure oil transportation hollow axle (13) so that transaxle (4) can hydraulically extensible motion；The center of the second gear (10) also has
One caves in cone tooth；One end of transaxle (4) has can be with the second gear (10) and cone tooth (16) that caves in of support hydraulic pressure cylinder body
Intermeshing two-sided cone tooth, first supports wheel (7) is connected with the first gear (11) by power transmission shaft (12), hydraulic support frame
(3) being revolute pair connected mode between support hydraulic pressure cylinder body and hydraulic pressure oil transportation hollow axle (13), there is rubber seal inside, institute
The crawler belt (1) stated is rubber belt track.
A kind of hydraulically extensible deformed caterpillar wheel the most according to claim 1, it is characterised in that by the first gear (11),
The outside of the outer driving means that the second gear (10) and chain (14) form is also equipped with gag lever post (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749561.1A CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749561.1A CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443086A CN104443086A (en) | 2015-03-25 |
| CN104443086B true CN104443086B (en) | 2016-08-24 |
Family
ID=52890024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749561.1A Expired - Fee Related CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
Country Status (1)
| Country | Link |
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| CN (1) | CN104443086B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110946717B (en) * | 2019-12-19 | 2021-05-18 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN112937713B (en) * | 2021-04-02 | 2022-08-23 | 中南大学 | Composite wall-climbing robot and control method thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1039787A1 (en) * | 1980-12-29 | 1983-09-07 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Roller truck propeller |
| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
| US7192034B2 (en) * | 2004-11-29 | 2007-03-20 | Deere & Company | Load based suspension motion limiting |
| CN101966797B (en) * | 2010-09-17 | 2013-01-23 | 广东工业大学 | Wheel-tracked freely switching gear train device |
| CN102673306B (en) * | 2011-03-07 | 2015-06-10 | 北京理工大学 | Triangular caterpillar wheel |
| CN102849132B (en) * | 2012-03-30 | 2014-11-26 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN102785716B (en) * | 2012-08-03 | 2014-12-10 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN203005587U (en) * | 2012-12-12 | 2013-06-19 | 樊坤声 | Triangular crawler wheel |
| CN203920957U (en) * | 2014-05-13 | 2014-11-05 | 中国人民解放军军事交通学院 | A kind of restructural rubber belt track |
| CN204279683U (en) * | 2014-12-10 | 2015-04-22 | 中国矿业大学 | Hydraulically extensible deformed caterpillar wheel |
-
2014
- 2014-12-10 CN CN201410749561.1A patent/CN104443086B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104443086A (en) | 2015-03-25 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Zhipeng Inventor after: Zhang Xiufeng Inventor after: Shi Junqing Inventor after: Zhang Wei Inventor after: He Jianhua Inventor after: Xu Xinbin Inventor after: Cui Jie Inventor after: Zang Qiliang Inventor after: Bao Yingji Inventor after: Zhu Dong Inventor before: Fu Yamen Inventor before: Zhao Yucheng Inventor before: Tang Huaqiang |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160712 Address after: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26 Applicant after: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY Address before: 221000 Nanhu campus, China University of Mining and Technology, Jiangsu, Xuzhou Applicant before: CHINA University OF MINING AND TECHNOLOGY |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20181206 Address after: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee after: BENGBU DINGRONG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. Address before: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee before: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181228 Address after: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee after: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY Address before: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee before: BENGBU DINGRONG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
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Effective date of registration: 20220105 Address after: 221112 building A3, safety science and Technology Industrial Park, East Yinshan Road, South Lijiang Road, the second industrial park, high tech Industrial Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou koala Robot Technology Co.,Ltd. Address before: 221000 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26 Patentee before: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 |